CN208345322U - Robot palletizer - Google Patents
Robot palletizer Download PDFInfo
- Publication number
- CN208345322U CN208345322U CN201820813589.0U CN201820813589U CN208345322U CN 208345322 U CN208345322 U CN 208345322U CN 201820813589 U CN201820813589 U CN 201820813589U CN 208345322 U CN208345322 U CN 208345322U
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- China
- Prior art keywords
- arm
- lead screw
- guide rail
- motor
- horizontal
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Abstract
The utility model provides a kind of robot palletizer.The robot palletizer includes pedestal, revolving support plate, rotary reducer, turning motor, upright guide rail lead screw, vertical motor, horizontal guide rail lead screw, horizontal motor, connection corner bracket, executing agency, A arm, B arm, C arm, D arm, E arm.The technical problems such as more heavy, the manufacture maintenance cost height of the robot palletizer that the robot palletizer provided by the utility model solves the prior art.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of robot palletizer.
Background technique
Stacking be exactly it is article is neat, rule put on pallet, the operation of stacking is carried out frequently with stacking machine at present.
Existing stacking machine is many kinds of, and some is exclusively used in the pile of cargo, and some is exclusively used in the machining of components, and some is exclusively used in
The transmitting of cargo.
In addition, at present on the market load 120 kg robot palletizer in the rotating shaft of ontology, the first and second joint all
Using 3KW servo motor, and the machine structural parts of entire ontology are cumbersome, and weight is more up to 2T, manufacture and maintenance cost
It greatly, is a biggish investment for general workshop.And service life is shorter, and efficiency is lower, is producing
In be easy to appear failure, influence the actual production produced daily.
Utility model content
More heavy, manufacture maintenance cost height of robot palletizer to solve the prior art etc.
Technical problem, the utility model provide a kind of robot palletizer to solve the above problems.
A kind of robot palletizer, including pedestal, revolving support plate, rotary reducer, turning motor, upright guide rail lead screw,
Vertical motor, horizontal guide rail lead screw, horizontal motor, connection corner bracket, executing agency, A arm, B arm, C arm, D arm, E arm；
Input shaft, the output shaft of the rotary reducer are located at opposite two sides, and wherein the output shaft of one side is fixed
In the pedestal, another side is equipped with the revolving support plate, and the turning motor is set to the revolving support plate, the revolution electricity
The output shaft of machine is connect with the input shaft of the rotary reducer with the structure that can be driven；
The upright guide rail lead screw is set to the revolving support plate vertically, and the vertical motor is set to the revolving support
Plate, the upright guide rail lead screw include guide rail, the feed screw nut as guide rail slide block, the lead screw base set on guide rail both ends, are set to
The lead screw of lead screw between lead screw base, the output shaft of the vertical motor and the upright guide rail lead screw is connected with the structure that can be driven
It connects；
The horizontal guide rail lead screw level is set to the revolving support plate, and the horizontal motor is set to the revolving support
Plate, the structure of the horizontal guide rail lead screw is consistent with the structure of the upright guide rail lead screw, the output shaft of the horizontal motor with
Structure connection of the lead screw of the horizontal guide rail lead screw can be driven；
Guide rail slide block/feed screw nut of the upright guide rail lead screw, the A arm, the C arm, the executing agency are successively
With the connection of rotatable structure；
One end of the B arm is connect with guide rail slide block/feed screw nut of the horizontal guide rail lead screw, this end point also passes through
A piece linking arm is connect with the A arm, and it is rotatable connection structure that the other end, which connects the C arm,；
Tie point, the D arm, another connection corner bracket, the E of the B arm and the horizontal guide rail lead screw
Arm, the executing agency are successively with the connection of rotatable structure, connection of the connection corner bracket also with the B arm and the C arm
Point connection.
In a kind of preferred embodiment of robot palletizer provided by the utility model, the executing agency includes executing admittedly
Reservation, executes speed reducer at actuating motor, and the C arm, the E arm are connect with the execution fixing seat with rotatable structure,
The actuating motor, the execution speed reducer are both secured to the execution fixing seat, the output shaft of the actuating motor with it is described
The structure connection that the input shaft of speed reducer is executed can be driven.
In a kind of preferred embodiment of robot palletizer provided by the utility model, the turning motor passes through tooth connection
Wheel is connect with the rotary reducer；
The vertical motor, the horizontal motor, by synchronous belt, belt wheel respectively with the upright guide rail lead screw, institute
State the connection of horizontal guide rail lead screw.
Compared to the prior art, robot palletizer described in the robot palletizer provided by the utility model only with
The motor driven of 1.5KW, 0.75KW, 0.4KW are run, that is, be can reach the load of traditional robot, significantly reduced weight of equipment,
Reduce the cost of manufacture and maintenance.Each support arm structure used by the robot palletizer is more simple, and failure rate is also significant
It reduces, extends service life, help to improve production yields.
Detailed description of the invention
Fig. 1 is the front view of robot palletizer provided by the utility model；
Fig. 2 is the partial enlarged view of Fig. 1.
Fig. 3 is the side view of robot palletizer provided by the utility model；
Fig. 4 is the top view of robot palletizer provided by the utility model；
Fig. 5 is the partial enlarged view of Fig. 4.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.
Please refer to Fig. 1 to Fig. 5, wherein Fig. 1, Fig. 3, Fig. 4 are robot palletizer provided by the utility model respectively
Front view, side view, top view, Fig. 2, Fig. 5 are the partial enlarged view of Fig. 1, Fig. 4 respectively.
The robot palletizer 1 includes pedestal 2, revolving support plate 3, rotary reducer 4, turning motor 5, upright guide rail silk
Thick stick 6, vertical motor 7, horizontal guide rail lead screw 8, horizontal motor 9, connection corner bracket 10, executing agency 11, A arm 12, B arm 13, C arm
14, D arm 15, E arm 16, linking arm 17, extension arm 18.
The top of the pedestal 2 is equipped with the rotary reducer 4.The rotary reducer 4 is RV speed reducer, and shape is circle
Dish type, on one side where output shaft, output shaft and the pedestal 2 are fixed, and another side is input shaft place, are fixed with the revolution
Support plate 3.3 center of revolving support plate is equipped with through-hole, does not contact with 4 input shaft of rotary reducer.
The revolving support plate 3 is equipped with auxiliary stand by the through-hole in center, make the turning motor 5 with output shaft downward
Angle, vertical is fixed on the revolving support plate 3.The turning motor 5 is the servo motor of a 1.5KW, output
Power is transferred to 4 input shaft of rotary reducer by connection gear by axis.
The upright guide rail lead screw 6 includes two upright guide rails 61, upright slide block 62, vertical feed screw nut 63, vertical thread
Thick stick seat 64, vertical lead screw 65, vertical belt wheel 66.
Two vertical two sides set on described 2 the same end of pedestal of the upright guide rail 61, the upright slide block 62 is simultaneously
It is connected with two upright guide rails 21, along the upright guide rail 21 in being slided up and down in vertical direction.The vertical lead screw spiral shell
Mother 63 is fixed on one side of the upright slide block 62 far from the upright guide rail 61.
The vertical lead screw 65 extends upward through the vertical feed screw nut 63, with it by threaded engagement, downwards then successively
Through the vertical lead screw base 64, the vertical belt wheel 66.The revolving support plate 3 is set in the two sides of the vertical lead screw base 64
There is auxiliary stand and keeps its bottom aerial, the vertical belt wheel 66 is located in this overhead space.
By a bearing connection between the vertical lead screw 65 and the vertical lead screw base 64, make the vertical thread
Thick stick 65 can rotate in the vertical lead screw base 64.
The revolving support plate 3 the other side of the upright guide rail 61 be equipped with auxiliary stand, make the vertical motor 7 with
Output shaft angle directed downwardly, the vertical other side for being fixed on the upright guide rail 61.The vertical motor 7 is a 0.75KW
Servo motor, output shaft is equally connected to a belt wheel, passes through synchronous band connection with the vertical belt wheel 66.
The horizontal guide rail lead screw 8 includes two horizontal guide rails 81, horizontal slider 82, horizontal screw lead nut 83, horizontal silk
Thick stick seat 84, horizontal screw lead 85, horizontal belt wheel 86.
The structure of the horizontal guide rail lead screw 8 is essentially identical to the upright guide rail lead screw 6 rotating to be horizontal angle,
The top of installation and the revolving support plate 3.
Difference place is only that: the horizontal screw lead nut 83 is fixed on the horizontal slider 82 close to the horizontal guide rail
81 one side.Related, the horizontal screw lead seat 84, the horizontal screw lead 85, the horizontal belt wheel 86 also have been located at the water
Between level gauge 81.
The horizontal screw lead nut 83, the horizontal screw lead seat 84 are covered in the accompanying drawings, but have no effect on understanding, therefore
Not additional mapping is shown.
The vertical motor 7, the horizontal motor 9 output shaft installation pulley diameters, be less than the vertical belt wheel 66,
The diameter of the horizontal belt wheel 86, to realize slowing effect.
The upright slide block 62, the horizontal slider 82, respectively far from the vertical lead screw nut seat 63, horizontal screw lead
The one side of nut seat 83 is equipped with axle bed, is denoted as A1, B1.
The A1 axis is connected with the A arm 12, and the B1 axis is connected with the B arm 13.The B1 also axis is connected with the linking arm
17, the other end of the linking arm 17 and the A arm 12 connect close to the position axis of the A1, are denoted as A2.
The other end of the A arm 12 and 14 axis of C arm connect, and are denoted as A3.The other end of the B arm 13 with the C arm
14 connect in the position axis close to the A3, are denoted as B2.
One end of the D arm 15 is connected by the extension arm 18 with the B1 axis, and the extension arm 18 is directed toward the A2's
The other end in direction, the D arm 15 is directed toward the direction of the A3, and successively axis is connected with the connection corner bracket 10, the E arm 16.
The third angle of the connection corner bracket 10 connects with the B2 axis simultaneously.
The executing agency 11 includes executing fixing seat 91, actuating motor 92, executing speed reducer 93.It is the E arm 16, described
C arm 14 distinguishes top, side of the axis even with the execution fixing seat 91.The servo electricity that the actuating motor 92 is a 0.4KW
Machine, the execution speed reducer 93 are a harmonic wave speed reducing machine.The actuating motor 92 is set in the execution fixing seat 91, defeated
Shaft is directly connected with the input shaft for executing speed reducer 93.
Further, it is operated for convenience of staff, is additionally provided with control system.It is each by the same terminal control
Motor operation, to adjust the activity of robot.
Compared to the prior art, robot palletizer 1 described in the robot palletizer 1 provided by the utility model only with
The motor driven of 1.5KW, 0.75KW, 0.4KW are run, that is, be can reach the load of traditional robot, significantly reduced weight of equipment,
Reduce the cost of manufacture and maintenance.Each support arm structure used by the robot palletizer 1 is more simple, and failure rate is also significant
It reduces, extends service life, help to improve production yields.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Using equivalent structure or equivalent flow shift made by the utility model description, it is applied directly or indirectly in other phases
The technical field of pass similarly includes within the scope of patent protection of the utility model.
Claims (3)
1. a kind of robot palletizer, it is characterised in that: including pedestal, revolving support plate, rotary reducer, turning motor, vertical
Guide rail lead screw, vertical motor, horizontal guide rail lead screw, horizontal motor, connection corner bracket, executing agency, A arm, B arm, C arm, D arm, E
Arm；
Input shaft, the output shaft of the rotary reducer are located at opposite two sides, and wherein the output shaft of one side is fixed on institute
Pedestal is stated, another side is equipped with the revolving support plate, and the turning motor is set to the revolving support plate, the turning motor
Output shaft is connect with the input shaft of the rotary reducer with the structure that can be driven；
The upright guide rail lead screw is set to the revolving support plate vertically, and the vertical motor is set to the revolving support plate, institute
Upright guide rail lead screw is stated to include guide rail, the feed screw nut as guide rail slide block, the lead screw base set on guide rail both ends, be set to lead screw base
Between lead screw, the output shaft of the vertical motor connect with the lead screw of the upright guide rail lead screw with the structure that can be driven；
The horizontal guide rail lead screw level is set to the revolving support plate, and the horizontal motor is set to the revolving support plate, institute
The structure for stating horizontal guide rail lead screw is consistent with the structure of the upright guide rail lead screw, the output shaft of the horizontal motor and the water
Structure connection of the lead screw of level gauge lead screw can be driven；
Guide rail slide block/feed screw nut of the upright guide rail lead screw, the A arm, the C arm, the executing agency are successively with can
The structure of rotation connects；
One end of the B arm is connect with guide rail slide block/feed screw nut of the horizontal guide rail lead screw, this end point also passes through one
Linking arm is connect with the A arm, and it is rotatable connection structure that the other end, which connects the C arm,；
The tie point of the B arm and the horizontal guide rail lead screw, another connection corner bracket, the E arm, described is held the D arm
Successively with the connection of rotatable structure, the connection corner bracket is also connect with the B arm with the tie point of the C arm for row mechanism.
2. robot palletizer according to claim 1, it is characterised in that: the executing agency includes executing fixing seat, holding
Row motor executes speed reducer, and the C arm, the E arm are connect with the execution fixing seat with rotatable structure, described to hold
Row motor, the execution speed reducer are both secured to the execution fixing seat, and the output shaft of the actuating motor subtracts with the execution
Structure connection of the input shaft of fast machine can be driven.
3. robot palletizer according to claim 1 or 2, it is characterised in that: the turning motor by connection gear with
The rotary reducer connection；
The vertical motor, the horizontal motor, by synchronous belt, belt wheel respectively with the upright guide rail lead screw, the water
The connection of level gauge lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820813589.0U CN208345322U (en) | 2018-05-29 | 2018-05-29 | Robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820813589.0U CN208345322U (en) | 2018-05-29 | 2018-05-29 | Robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208345322U true CN208345322U (en) | 2019-01-08 |
Family
ID=64891097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820813589.0U Active CN208345322U (en) | 2018-05-29 | 2018-05-29 | Robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208345322U (en) |
-
2018
- 2018-05-29 CN CN201820813589.0U patent/CN208345322U/en active Active
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